Automatic guided vehicle (AGV) is a device for horizontal transportation between quay cranes and yard cranes in an automated container terminal. In which dispatching and routing problem (DRP) of the AGV system is a vital as well as basic issue. In the application of the actual AGV system, several practical factors including avoiding conflicts, path smoothness, difficulty in adjusting routes and anti-interference must be considered. The present study establishes the model with the goal of minimizing AGV travel distance, reducing operation time and response time. Furthermore, a three-stage decomposition solution to the problem was proposed by combining the advantages of pre-planning algorithm and real-time planning algorithm, which combines A^* algorithm with the principle of time window to plan the path of each AGV in time order. Finally, the effectiveness of this method in path search and time optimization is illustrated and the system efficiency is improved by comparing and analyzing the calculation examples of different scales.

中文翻译：

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基于三阶段分解方法的多AGV调度问题

自动导引车（AGV）是用于在自动化集装箱码头中的码头起重机和堆场起重机之间进行水平运输的设备。AGV系统的调度和路由问题（DRP）在其中既是至关重要的也是基本问题。在实际的AGV系统的应用中，必须考虑避免冲突，路径平滑，调整路线困难和抗干扰的几个实际因素。本研究建立的模型旨在最小化AGV行驶距离，减少操作时间和响应时间。此外，结合预计划算法和实时计划算法的优点，提出了针对该问题的三阶段分解解决方案，该算法结合了A ^*该算法具有时间窗原理，可以按时间顺序规划每个AGV的路径。最后，通过比较和分析不同比例尺的计算实例，说明了该方法在路径搜索和时间优化中的有效性，提高了系统效率。